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Regard whitespace Rev 320 → Rev 321

/C-OSD/trunk/main.c
0,0 → 1,1404
/****************************************************************************
* Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje *
* admiralcascade@gmail.com *
* Project-URL: http://www.mylifesucks.de/oss/c-osd/ *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with this program; if not, write to the *
* Free Software Foundation, Inc., *
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
* *
* *
* Credits to: *
* Holger Buss & Ingo Busker from mikrokopter.de for the MK project *
* Gregor "killagreg" Stobrawa for making the MK code readable *
* Klaus "akku" Buettner for the hardware *
* Manuel "KeyOz" Schrape for explaining the MK protocol to me *
****************************************************************************/
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
 
/* TODO:
* - verifiy correctness of values
*/
 
/* ##########################################################################
* Debugging and general purpose definitions
* ##########################################################################*/
#define ALLCHARSDEBUG 0 // set to 1 and flash firmware to see all chars
#define WRITECHARS 0 // set to 1 and flash firmware to write new char
// enables the allchars as well to see results
#define NTSC 0 // set to 1 for NTSC mode + lifts the bottom line
#define ARTHORIZON 0 // set to 1 to enable roll&nick artificial horizon
#define UBAT_WRN 94 // voltage for blinking warning, like FC settings
#define RCLVL_WRN 100 // make the RC level blink if below this number
 
// ### read datasheet before changing stuff below this line :)
#define BLINK 0b01001111 // attribute byte for blinking chars
 
/* ##########################################################################
* Software SPI to communicate with MAX7456
* ##########################################################################*/
#define MAX_CS_HIGH PORTA |= (1 << PA1);
#define MAX_CS_LOW PORTA &= ~(1 << PA1);
#define MAX_SDIN_HIGH PORTA |= (1 << PA2);
#define MAX_SDIN_LOW PORTA &= ~(1 << PA2);
#define MAX_SCLK_HIGH PORTA |= (1 << PA3);
#define MAX_SCLK_LOW PORTA &= ~(1 << PA3);
#define MAX_RESET_HIGH PORTA |= (1 << PA5);
#define MAX_RESET_LOW PORTA &= ~(1 << PA5);
 
/* ##########################################################################
* LED controll
* ##########################################################################*/
#define LED1_ON PORTC |= (1 << PC0);
#define LED1_OFF PORTC &= ~(1 << PC0);
#define LED2_ON PORTC |= (1 << PC1);
#define LED2_OFF PORTC &= ~(1 << PC1);
#define LED3_ON PORTC |= (1 << PC2);
#define LED3_OFF PORTC &= ~(1 << PC2);
#define LED4_ON PORTC |= (1 << PC3);
#define LED4_OFF PORTC &= ~(1 << PC3);
 
/* ##########################################################################
* switch controll
* ##########################################################################*/
#define S1_PRESSED !(PINC & (1<<PC4))
#define S2_PRESSED !(PINC & (1<<PC5))
 
/* ##########################################################################
* gain some fake arm compat :)
* ##########################################################################*/
#define u8 uint8_t
#define s8 int8_t
#define u16 uint16_t
#define s16 int16_t
#define u32 uint32_t
#define s32 int32_t
 
#if !(ALLCHARSDEBUG|WRITECHARS)
/* ##########################################################################
* MK data strucs & flags
* ##########################################################################*/
#define NC_FLAG_FREE 1
#define NC_FLAG_PH 2
#define NC_FLAG_CH 4
#define NC_FLAG_RANGE_LIMIT 8
#define NC_SERIAL_LINK_OK 16
#define NC_FLAG_TARGET_REACHED 32
 
 
#define FLAG_MOTOR_RUN 1
#define FLAG_FLY 2
#define FLAG_CALIBRATE 4
#define FLAG_START 8
 
/*
* FC Debug Struct
* portions taken and adapted from
* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h
*/
typedef struct {
uint8_t Digital[2];
uint16_t Analog[32]; // Debugvalues
} __attribute__((packed)) DebugOut_t;
 
/*
* NaviCtrl OSD Structs
* portions taken and adapted from
* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.14e%2Fuart1.h
*/
typedef struct {
s32 Longitude; // in 1E-7 deg
s32 Latitude; // in 1E-7 deg
s32 Altitude; // in mm
u8 Status; // validity of data
} __attribute__((packed)) GPS_Pos_t;
 
typedef struct {
s16 Distance; // distance to target in cm
s16 Bearing; // course to target in deg
} __attribute__((packed)) GPS_PosDev_t;
 
typedef struct {
GPS_Pos_t CurrentPosition; // see ubx.h for details
GPS_Pos_t TargetPosition;
GPS_PosDev_t TargetPositionDeviation;
GPS_Pos_t HomePosition;
GPS_PosDev_t HomePositionDeviation;
u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
u8 WaypointNumber; // number of stored waypoints
u8 SatsInUse; // no of satellites used for position solution
s16 Altimeter; // hight according to air pressure
s16 Variometer; // climb(+) and sink(-) rate
u16 FlyingTime; // in seconds
u8 UBat; // Battery Voltage in 0.1 Volts
u16 GroundSpeed; // speed over ground in cm/s (2D)
s16 Heading; // current flight direction in deg as angle to north
s16 CompassHeading; // current compass value
s8 AngleNick; // current Nick angle in 1°
s8 AngleRoll; // current Rick angle in 1°
u8 RC_Quality; // RC_Quality
u8 MKFlags; // Flags from FC
u8 NCFlags; // Flags from NC
u8 Errorcode; // 0 --> okay
u8 OperatingRadius; // current operation radius around the Home Position in m
u8 Reserve[7]; // for future use
} __attribute__((packed)) NaviData_t;
 
 
/* ##########################################################################
* global definitions and global vars
* ##########################################################################*/
#define baud 57600
 
#define RXD_BUFFER_LEN 150
#define TXD_BUFFER_LEN 150
 
volatile uint8_t rxd_buffer_locked = 0;
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
volatile uint8_t ReceivedBytes = 0;
volatile uint8_t *pRxData = 0;
volatile uint8_t RxDataLen = 0;
volatile uint16_t setsReceived = 0;
 
volatile NaviData_t naviData;
volatile DebugOut_t debugData;
 
// cache old vars for blinking attribute, checkup is faster than full
// attribute write each time
volatile uint8_t last_UBat = 255;
volatile uint8_t last_RC_Quality = 255;
 
// 16bit should be enough, normal LiPos don't last that long
volatile uint16_t uptime = 0;
volatile uint16_t timer = 0;
 
#endif // ends !(ALLCHARSDEBUG|WRITECHARS)
/* ##########################################################################
* MAX7456 SPI & Display stuff
* ##########################################################################*/
 
/**
* Send a byte through SPI
*/
void spi_send(uint8_t byte) {
for (int8_t i = 7; i >= 0; i--) {
if (((byte >> i) & 1)) {
MAX_SDIN_HIGH
} else {
MAX_SDIN_LOW
}
MAX_SCLK_HIGH
MAX_SCLK_LOW
}
}
 
/**
* Send <byte> to <address> of MAX7456
*/
void spi_send_byte(uint8_t address, uint8_t byte) {
// start sending
MAX_CS_LOW
 
spi_send(address);
spi_send(byte);
 
// end sending
MAX_CS_HIGH
}
 
/**
* write a <character> to <address> of MAX7456 display memory
*/
void write_char(uint16_t address, char character) {
spi_send_byte(0x05, (address & 0xFF00) >> 8); // DMAH
spi_send_byte(0x06, (address & 0x00FF)); // DMAL
spi_send_byte(0x07, character); // DMDI
}
 
/**
* write a character <attribute> to <address> of MAX7456 display memory
*/
void write_char_att(uint16_t address, char attribute) {
// the only important part is that the DMAH[1] is set
// so we add 2 which binary is the 2nd lowest byte
spi_send_byte(0x05, ((address & 0xFF00) >> 8) | 2); // DMAH
spi_send_byte(0x06, (address & 0x00FF)); // DMAL
spi_send_byte(0x07, attribute); // DMDI
}
 
/**
* write a <character> at <x>/<y> to MAX7456 display memory
*/
void write_char_xy(uint8_t x, uint8_t y, char character) {
uint16_t address = y * 30 + x;
write_char(address, character);
}
 
/**
* write a character <attribute> at <x>/<y> to MAX7456 display memory
*/
void write_char_att_xy(uint8_t x, uint8_t y, char attribute) {
uint16_t address = y * 30 + x;
write_char_att(address, attribute);
}
 
/**
* clear display by writing blank characters all over it
*/
void clear(void) {
uint16_t memory_address = 0;
for (unsigned int a = 0; a < 480; a++) {
write_char(memory_address++, 0);
}
}
 
/**
* write an ascii <character> to <address> of MAX7456 display memory
*/
void write_ascii_char(uint16_t address, char c) {
if (c == 32) c = 0; // remap space
else if (c > 48 && c <= 57) c -= 48; // remap numbers
else if (c == '0') c = 10; // remap zero
else if (c >= 65 && c <= 90) c -= 54; // remap big letters
else if (c >= 97 && c <= 122) c -= 60; // remap small letters
else if (c == '(') c = 63; // remap
else if (c == ')') c = 64; // remap
else if (c == '.') c = 65; // remap
else if (c == '?') c = 66; // remap
else if (c == ';') c = 67; // remap
else if (c == ':') c = 68; // remap
else if (c == ',') c = 69; // remap
else if (c == '\'') c = 70; // remap
else if (c == '/') c = 71; // remap
else if (c == '"') c = 72; // remap
else if (c == '-') c = 73; // remap minus
else if (c == '<') c = 74; // remap
else if (c == '>') c = 75; // remap
else if (c == '@') c = 76; // remap
write_char(address, c);
}
 
/**
* write an ascii <string> at <x>/<y> to MAX7456 display memory
*/
void write_ascii_string(uint8_t x, uint8_t y, char *string) {
while (*string) {
write_ascii_char(((x++)+(y * 30)), *string);
string++;
}
}
 
/**
* Write only the last three digits of a <number> at <x>/<y> to MAX7456
* display memory. takes full 16bit numbers as well for stuff
* like compass only taking three characters (values <= 999)
*/
void write_3digit_number_u(uint8_t x, uint8_t y, uint16_t number) {
uint16_t num = 100;
uint8_t started = 0;
 
while (num > 0) {
uint8_t b = number / num;
if (b > 0 || started || num == 1) {
write_ascii_char((x++)+(y * 30), '0' + b);
started = 1;
} else {
write_ascii_char((x++)+(y * 30), 0);
}
number -= b * num;
 
num /= 10;
}
}
 
/**
* Write only the last two digits of a number at <x>/<y> to MAX7456
* display memory. takes full 16bit numbers as well for stuff
* like seconds only taking two characters (values <= 99)
* Since this is used for seconds only and it looks better, there
* is a trading 0 attached
*/
void write_2digit_number_u(uint8_t x, uint8_t y, uint16_t number) {
uint16_t num = 10;
uint8_t started = 0;
 
while (num > 0) {
uint8_t b = number / num;
if (b > 0 || started || num == 1) {
write_ascii_char((x++)+(y * 30), '0' + b);
started = 1;
} else {
write_ascii_char((x++)+(y * 30), '0');
}
number -= b * num;
 
num /= 10;
}
}
 
/**
* write a unsigned number as /10th at <x>/<y> to MAX7456 display memory
*/
void write_number_u_10th(uint8_t x, uint8_t y, uint16_t number) {
uint16_t num = 10000;
uint8_t started = 0;
 
while (num > 0) {
uint8_t b = number / num;
 
if (b > 0 || started || num == 1) {
if ((num / 10) == 0) write_char((x++)+(y * 30), 65);
write_ascii_char((x++)+(y * 30), '0' + b);
started = 1;
} else {
write_ascii_char((x++)+(y * 30), 0);
}
number -= b * num;
 
num /= 10;
}
}
 
/**
* write a unsigned number at <x>/<y> to MAX7456 display memory
*/
void write_number_u(uint8_t x, uint8_t y, uint16_t number) {
uint16_t num = 10000;
uint8_t started = 0;
 
while (num > 0) {
uint8_t b = number / num;
if (b > 0 || started || num == 1) {
write_ascii_char((x++)+(y * 30), '0' + b);
started = 1;
} else {
write_ascii_char((x++)+(y * 30), 0);
}
number -= b * num;
 
num /= 10;
}
}
 
/**
* write a signed number at <x>/<y> to MAX7456 display memory
*/
void write_number_s(uint8_t x, uint8_t y, int16_t w) {
if (((uint16_t) w) > 32767) {
w = w - 65536;
 
int16_t num = -10000;
uint8_t started = 0;
 
while (num < 0) {
uint8_t b = w / num;
if (b > 0 || started || num == 1) {
if (!started) write_char((x - 1)+(y * 30), 0x49);
write_ascii_char((x++)+(y * 30), '0' + b);
started = 1;
} else {
write_ascii_char((x++)+(y * 30), 0);
}
w -= b * num;
 
num /= 10;
}
} else {
write_char((x)+(y * 30), 0);
write_number_u(x, y, w);
}
}
 
/**
* write <seconds> as human readable time at <x>/<y> to MAX7456 display mem
*/
void write_time(uint8_t x, uint8_t y, uint16_t seconds) {
uint16_t min = seconds / 60;
seconds -= min * 60;
write_3digit_number_u(x, y, min);
write_char_xy(x + 3, y, 68);
write_2digit_number_u(x + 4, y, seconds);
}
 
/**
* for testing write all chars to screen
*/
void write_all_chars() {
uint16_t x = 3, y = 2, t = 0;
while (t < 256) {
write_char_xy(x++, y, t++);
if (x > 25) {
y++;
x = 3;
}
}
}
 
#if !(ALLCHARSDEBUG|WRITECHARS)
/* ##########################################################################
* USART stuff
* ##########################################################################*/
 
/**
* init usart1
*/
void usart1_init() {
UBRR1H = ((F_CPU / (16UL * baud)) - 1) >> 8;
UBRR1L = (F_CPU / (16UL * baud)) - 1;
 
// Enable receiver and transmitter; enable RX interrupt
UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1);
 
//asynchronous 8N1
UCSR1C = (1 << URSEL1) | (3 << UCSZ10);
}
 
/**
* send a single <character> through usart1
*/
void usart1_putc(unsigned char character) {
// wait until UDR ready
while (!(UCSR1A & (1 << UDRE1)));
UDR1 = character;
}
 
/**
* send a <string> throught usart1
*/
void usart1_puts(char *s) {
while (*s) {
usart1_putc(*s);
s++;
}
}
 
/**
* receive data through usart1
* portions taken and adapted from
* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Fbranches%2FV0.72p+Code+Redesign+killagreg%2Fuart0.c
*/
ISR(SIG_USART1_RECV) {
if (rxd_buffer_locked) return; // if rxd buffer is locked immediately return
LED1_ON
static uint16_t crc;
static uint8_t ptr_rxd_buffer = 0;
uint8_t crc1, crc2;
uint8_t c;
 
c = UDR1; // catch the received byte
 
// the rxd buffer is unlocked
if ((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
{
/*
// skip other datasets
if (ptr_rxd_buffer == 2 && rxd_buffer[ptr_rxd_buffer] != 'O') {
ptr_rxd_buffer = 0; // reset rxd buffer
rxd_buffer_locked = 0; // unlock rxd buffer
}*/
rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
crc = c; // init crc
} else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes
{
if (c != '\r') // no termination character
{
rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
crc += c; // update crc
} else // termination character was received
{
// the last 2 bytes are no subject for checksum calculation
// they are the checksum itself
crc -= rxd_buffer[ptr_rxd_buffer - 2];
crc -= rxd_buffer[ptr_rxd_buffer - 1];
// calculate checksum from transmitted data
crc %= 4096;
crc1 = '=' + crc / 64;
crc2 = '=' + crc % 64;
// compare checksum to transmitted checksum bytes
if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2 == rxd_buffer[ptr_rxd_buffer - 1])) { // checksum valid
rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes
rxd_buffer_locked = 1; // lock the rxd buffer
} else { // checksum invalid
rxd_buffer_locked = 0; // unlock rxd buffer
}
ptr_rxd_buffer = 0; // reset rxd buffer pointer
}
} else // rxd buffer overrun
{
ptr_rxd_buffer = 0; // reset rxd buffer
rxd_buffer_locked = 0; // unlock rxd buffer
}
LED1_OFF
}
 
/**
* Decode the recevied Buffer
* portions taken and adapted from
* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c
*/
void Decode64(void) {
uint8_t a, b, c, d;
uint8_t x, y, z;
uint8_t ptrIn = 3;
uint8_t ptrOut = 3;
uint8_t len = ReceivedBytes - 6;
 
while (len) {
a = rxd_buffer[ptrIn++] - '=';
b = rxd_buffer[ptrIn++] - '=';
c = rxd_buffer[ptrIn++] - '=';
d = rxd_buffer[ptrIn++] - '=';
 
x = (a << 2) | (b >> 4);
y = ((b & 0x0f) << 4) | (c >> 2);
z = ((c & 0x03) << 6) | d;
 
if (len--) rxd_buffer[ptrOut++] = x;
else break;
if (len--) rxd_buffer[ptrOut++] = y;
else break;
if (len--) rxd_buffer[ptrOut++] = z;
else break;
}
pRxData = &rxd_buffer[3];
RxDataLen = ptrOut - 3;
}
 
/**
* request Data through USART in special MK format by adding checksum and
* encode data in modified Base64
* portions taken and adapted from
* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c
*/
void sendMKData(unsigned char cmd, unsigned char addr, unsigned char *snd, unsigned char len) {
unsigned int pt = 0;
unsigned char a, b, c;
unsigned char ptr = 0;
 
txd_buffer[pt++] = '#'; // Start-Byte
txd_buffer[pt++] = 'a' + addr; // Adress
txd_buffer[pt++] = cmd; // Command
while (len) {
if (len) {
a = snd[ptr++];
len--;
} else a = 0;
if (len) {
b = snd[ptr++];
len--;
} else b = 0;
if (len) {
c = snd[ptr++];
len--;
} else c = 0;
txd_buffer[pt++] = '=' + (a >> 2);
txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
txd_buffer[pt++] = '=' + (c & 0x3f);
}
 
// add crc
unsigned int tmpCRC = 0, i;
for (i = 0; i < pt; i++) {
tmpCRC += txd_buffer[i];
}
tmpCRC %= 4096;
txd_buffer[i++] = '=' + tmpCRC / 64;
txd_buffer[i++] = '=' + tmpCRC % 64;
txd_buffer[i++] = '\r';
 
usart1_puts((char*) txd_buffer);
}
 
/* ##########################################################################
* timer stuff
* ##########################################################################*/
 
/*
* timer kicks in every 1000uS
*/
ISR(TIMER0_OVF_vect) {
OCR0 = 6; // preload
if (!timer--) {
uptime++;
timer = 999;
}
}
 
/* ##########################################################################
* compass stuff
* ##########################################################################*/
 
/**
* convert the <heading> gotton from NC into an index
*/
uint8_t heading_conv(uint16_t heading) {
if (heading > 23 && heading < 68) {
//direction = "NE";
return 0;
} else if (heading > 67 && heading < 113) {
//direction = "E ";
return 1;
} else if (heading > 112 && heading < 158) {
//direction = "SE";
return 2;
} else if (heading > 157 && heading < 203) {
//direction = "S ";
return 3;
} else if (heading > 202 && heading < 248) {
//direction = "SW";
return 4;
} else if (heading > 247 && heading < 293) {
//direction = "W ";
return 5;
} else if (heading > 292 && heading < 338) {
//direction = "NW";
return 6;
}
//direction = "N ";
return 7;
}
 
/**
* draw a compass rose at <x>/<y> for <heading>
*/
void draw_compass(uint8_t x, uint8_t y, uint16_t heading) {
//char* rose = "---N---O---S---W---N---O---S---W---N---O---S---W";
char rose[48] = {216, 215, 216, 211, 216, 215, 216, 213, 216, 215, 216, 212,
216, 215, 216, 214, 216, 215, 216, 211, 216, 215, 216, 213,
216, 215, 216, 212, 216, 215, 216, 214, 216, 215, 216, 211,
216, 215, 216, 213, 216, 215, 216, 212, 216, 215, 216, 214};
// the center is char 19 (north), we add the current heading in 8th
// which would be 22.5 degrees, but float would bloat up the code
// and *10 / 225 would take ages... so we take the uncorrect way
uint8_t front = 19 + (heading / 22);
for (uint8_t i = 0; i < 9; i++) {
write_char_xy(x++, y, rose[front - 4 + i]);
}
}
 
/* ##########################################################################
* artificial horizon
* ##########################################################################*/
// remember last time displayed values
int8_t old_af_x = -1, old_af_y = -1;
 
/**
* draw roll und nick indicators (could be enhanced to full artificial horizon)
* from line <firstline> to <listlines> for given <nick> and <roll> values
*/
void draw_artificial_horizon(uint8_t firstline, uint8_t lastline, int16_t nick, int16_t roll) {
char noodle[5] = {225, 225, 226, 227, 227};
uint8_t center_x = 15;
uint8_t center_y = lastline - firstline;
center_y = 7;
write_char_xy(center_x,center_y,228);
uint8_t cpos, nicky, rollx;
// which line
int8_t ypos = nick / 20;
// which character from the array?
if (nick < 0) {
cpos = -1*((nick - (ypos * 20))/4);
ypos--;
} else cpos = 4-((nick - (ypos * 20))/4);
if (cpos > 4) cpos = 4;
 
nicky = center_y - ypos;
if (nicky > lastline) nicky = lastline;
else if (nicky < firstline) nicky = firstline;
 
// ensure roll-borders
rollx = (roll / 8)+15;
if (rollx < 2) rollx = 2;
else if (rollx > 28) rollx = 28;
 
 
// clear roll
if (old_af_x != rollx && old_af_x >= 0) {
write_char_xy(old_af_x,13,0);
}
 
// clear nick
if (old_af_y != nicky && old_af_y >= 0) {
write_char_xy(center_x-1,old_af_y,0);
write_char_xy(center_x+1,old_af_y,0);
}
 
 
// draw nick
write_char_xy(center_x-1,nicky,noodle[cpos]);
write_char_xy(center_x+1,nicky,noodle[cpos]);
 
// draw roll
write_char_xy(rollx,lastline,229);
 
// update old vars
old_af_x = rollx;
old_af_y = nicky;
 
// debug numbers
//write_3digit_number_u(20,6,cpos);
//write_number_s(20,7,ypos);
//write_number_s(0,7,nick);
//write_number_s(18,11,roll);
}
 
#endif
 
/* ##########################################################################
* MAIN
* ##########################################################################*/
int main(void) {
DDRA |= (1 << PA1); // PA1 output (/CS)
MAX_CS_HIGH
DDRA |= (1 << PA2); // PA2 output (SDIN)
MAX_SDIN_LOW
DDRA |= (1 << PA3); // PA3 output (SCLK)
MAX_SCLK_LOW
DDRA |= (1 << PA5); // PA5 output (RESET)
MAX_RESET_HIGH
 
DDRC |= (1 << PC0); // PC0 output (LED1 gn)
LED1_OFF
DDRC |= (1 << PC1); // PC1 output (LED2 rt)
LED2_OFF
DDRC |= (1 << PC2); // PC2 output (LED3 gn)
LED3_OFF
DDRC |= (1 << PC3); // PC3 output (LED4 rt)
LED4_OFF
 
DDRC &= ~(1 << PC4); // PC4 input (MODE)
PORTC |= (1 << PC4); // pullup
DDRC &= ~(1 << PC5); // PC5 input (SET)
PORTC |= (1 << PC5); // pullup
 
MAX_RESET_LOW
MAX_RESET_HIGH
 
// give the FC/NC and the maxim time to come up
LED4_ON
_delay_ms(2000);
 
LED4_OFF
 
/* ##########################################################################
* Pushing NEW chars to the MAX7456
* ##########################################################################*/
#if WRITECHARS
void learn_char(uint8_t number, unsigned char* data) {
// select character to write (CMAH)
spi_send_byte(0x09, number);
 
for (uint8_t i = 0; i < 54; i++) {
// select 4pixel byte of char (CMAL)
spi_send_byte(0x0A, i);
 
// write 4pixel byte of char (CMDI)
spi_send_byte(0x0B, data[i]);
}
 
// write to the NVM array from the shadow RAM (CMM)
spi_send_byte(0x08, 0b10100000);
 
// according to maxim writing to nvram takes about 12ms, lets wait longer
_delay_ms(120);
}
 
// DISABLE display (VM0)
spi_send_byte(0x00, 0b00000000);
 
/**
* easy char creation:
* http://cascade.dyndns.org/~cascade/scripts/max7456/
*/
// GPS
unsigned char cc8[54] = {0x55, 0x50, 0x55, 0x55, 0x4a, 0x15, 0x55, 0x2a,
0x85, 0x55, 0x2a, 0xa1, 0x55, 0x4a, 0xa8, 0x55,
0x52, 0xa8, 0x55, 0x54, 0xaa, 0x55, 0x55, 0x09,
0x55, 0x55, 0x52, 0x55, 0x55, 0x1a, 0x55, 0x51,
0x96, 0x55, 0x18, 0x85, 0x54, 0x88, 0x28, 0x54,
0x82, 0x05, 0x55, 0x20, 0xa1, 0x55, 0x48, 0x15,
0x55, 0x52, 0x85, 0x55, 0x54, 0x15};
 
unsigned char cc9[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x45,
0x55, 0x55, 0x21, 0x55, 0x55, 0xa8, 0x55, 0x55,
0xa1, 0x55, 0x55, 0x98, 0x15, 0x55, 0x2a, 0x85,
0x55, 0x4a, 0xa1, 0x55, 0x4a, 0xa8, 0x55, 0x52,
0xaa, 0x15, 0x54, 0xaa, 0x15, 0x55, 0x28, 0x55,
0x55, 0x41, 0x55, 0x55, 0x55, 0x55};
 
// RC
unsigned char cca[54] = {0x54, 0xaa, 0x85, 0x52, 0x00, 0x21, 0x48, 0x2a,
0x08, 0x60, 0x80, 0x82, 0x62, 0x08, 0x22, 0x62,
0x2a, 0x22, 0x62, 0x08, 0x22, 0x60, 0x88, 0x82,
0x48, 0x08, 0x08, 0x52, 0x08, 0x21, 0x54, 0x48,
0x45, 0x55, 0x48, 0x55, 0x55, 0x48, 0x55, 0x55,
0x48, 0x55, 0x55, 0x48, 0x55, 0x55, 0x48, 0x55,
0x55, 0x2a, 0x15, 0x54, 0xaa, 0x85};
 
// km/h
unsigned char ccb[54] = {0x55, 0x55, 0x55, 0x01, 0x55, 0x55, 0x21, 0x55,
0x55, 0x20, 0x15, 0x55, 0x22, 0x15, 0x55, 0x28,
0x15, 0x55, 0x22, 0x15, 0x55, 0x00, 0x00, 0x15,
0x52, 0xaa, 0x15, 0x52, 0x22, 0x15, 0x52, 0x22,
0x15, 0x50, 0x00, 0x05, 0x55, 0x54, 0x85, 0x55,
0x54, 0x80, 0x55, 0x54, 0xa8, 0x55, 0x54, 0x88,
0x55, 0x54, 0x88, 0x55, 0x54, 0x00};
 
 
// small meters m
unsigned char ccc[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x00, 0x00, 0x15, 0x22,
0x8a, 0x15, 0x28, 0xa2, 0x15, 0x20, 0x82, 0x15,
0x20, 0x82, 0x15, 0x00, 0x00, 0x15};
 
// vario down
unsigned char ccd[54] = {0x55, 0x00, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28,
0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55,
0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55,
0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28,
0x55, 0x00, 0x28, 0x00, 0x2a, 0xaa, 0xa8, 0x0a,
0xaa, 0xa0, 0x42, 0xaa, 0x81, 0x50, 0xaa, 0x05,
0x54, 0x28, 0x15, 0x55, 0x00, 0x55};
 
// vario hold
unsigned char cce[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x00, 0x00, 0x00,
0x2a, 0xaa, 0xa8, 0x2a, 0xaa, 0xa8, 0x00, 0x00,
0x00, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// vario up
unsigned char ccf[54] = {0x55, 0x00, 0x55, 0x54, 0x28, 0x15, 0x50, 0xaa,
0x05, 0x42, 0xaa, 0x81, 0x0a, 0xaa, 0xa0, 0x2a,
0xaa, 0xa8, 0x00, 0x28, 0x00, 0x55, 0x28, 0x55,
0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28,
0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55,
0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55,
0x55, 0x28, 0x55, 0x55, 0x00, 0x55};
 
// degree symbol
unsigned char cd0[54] = {0x55, 0x55, 0x55, 0x54, 0x01, 0x55, 0x52, 0xa8,
0x55, 0x48, 0x02, 0x15, 0x48, 0x52, 0x15, 0x48,
0x52, 0x15, 0x48, 0x02, 0x15, 0x52, 0xa8, 0x55,
0x54, 0x01, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// clock on symbol
unsigned char cd1[54] = {0x54, 0x14, 0x51, 0x52, 0x82, 0x08, 0x48, 0x22,
0x88, 0x48, 0x22, 0x28, 0x48, 0x22, 0x28, 0x52,
0x82, 0x08, 0x54, 0x14, 0x51, 0x55, 0x40, 0x55,
0x55, 0x2a, 0x15, 0x54, 0x88, 0x85, 0x52, 0x08,
0x21, 0x48, 0x48, 0x08, 0x48, 0x4a, 0x88, 0x48,
0x50, 0x08, 0x52, 0x15, 0x21, 0x54, 0x80, 0x85,
0x55, 0x2a, 0x15, 0x55, 0x40, 0x55};
 
// clock fly symbol
unsigned char cd2[54] = {0x40, 0x45, 0x11, 0x2a, 0x20, 0x88, 0x20, 0x20,
0x88, 0x28, 0x21, 0x21, 0x21, 0x20, 0x21, 0x21,
0x2a, 0x21, 0x45, 0x40, 0x45, 0x55, 0x40, 0x55,
0x55, 0x2a, 0x15, 0x54, 0x88, 0x85, 0x52, 0x08,
0x21, 0x48, 0x48, 0x08, 0x48, 0x4a, 0x88, 0x48,
0x50, 0x08, 0x52, 0x15, 0x21, 0x54, 0x80, 0x85,
0x55, 0x2a, 0x15, 0x55, 0x40, 0x55};
 
// compass north
unsigned char cd3[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54,
0x54, 0x55, 0x52, 0x12, 0x15, 0x52, 0x82, 0x15,
0x02, 0x82, 0x00, 0xa2, 0x22, 0x2a, 0x02, 0x0a,
0x00, 0x52, 0x0a, 0x15, 0x52, 0x12, 0x15, 0x54,
0x54, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// compass south
unsigned char cd4[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x01, 0x55, 0x54, 0xa8, 0x55, 0x52, 0x02, 0x15,
0x04, 0x84, 0x40, 0xa1, 0x21, 0x2a, 0x04, 0x48,
0x40, 0x52, 0x02, 0x15, 0x54, 0xa8, 0x55, 0x55,
0x01, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// compass east
unsigned char cd5[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54,
0x00, 0x55, 0x52, 0xaa, 0x15, 0x52, 0x00, 0x55,
0x02, 0x05, 0x40, 0xa2, 0xa1, 0x2a, 0x02, 0x05,
0x40, 0x52, 0x00, 0x55, 0x52, 0xaa, 0x15, 0x54,
0x00, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// compass west
unsigned char cd6[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54,
0x54, 0x55, 0x52, 0x12, 0x15, 0x52, 0x12, 0x15,
0x02, 0x02, 0x00, 0xa2, 0x22, 0x2a, 0x02, 0x8a,
0x00, 0x52, 0x8a, 0x15, 0x52, 0x12, 0x15, 0x54,
0x54, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// compass between
unsigned char cd7[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x45, 0x55, 0x55, 0x21, 0x55,
0x01, 0x21, 0x00, 0xa8, 0x20, 0xaa, 0x01, 0x21,
0x00, 0x55, 0x21, 0x55, 0x55, 0x45, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// compass line
unsigned char cd8[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x00, 0x00, 0x00, 0xaa, 0xaa, 0xaa, 0x00, 0x00,
0x00, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// arrow right
unsigned char cd9[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x15, 0x55, 0x54, 0x85, 0x40, 0x00, 0xa1,
0x2a, 0xaa, 0xa8, 0x2a, 0xaa, 0xa8, 0x40, 0x00,
0xa1, 0x55, 0x54, 0x85, 0x55, 0x55, 0x15, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// arrow right-up
unsigned char cda[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x40, 0x01, 0x55, 0x2a, 0xa8, 0x55,
0x4a, 0xa8, 0x55, 0x52, 0xa8, 0x55, 0x4a, 0xa8,
0x55, 0x2a, 0x28, 0x54, 0xa8, 0x48, 0x52, 0xa1,
0x51, 0x4a, 0x85, 0x55, 0x52, 0x15, 0x55, 0x54,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// arrow up
unsigned char cdb[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x41, 0x55, 0x55, 0x28, 0x55, 0x54,
0xaa, 0x15, 0x52, 0xaa, 0x85, 0x54, 0x28, 0x15,
0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28,
0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55,
0x28, 0x55, 0x55, 0x41, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// arrow left-up
unsigned char cdc[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x40, 0x01, 0x55, 0x2a, 0xa8, 0x55, 0x2a,
0xa1, 0x55, 0x2a, 0x85, 0x55, 0x2a, 0xa1, 0x55,
0x28, 0xa8, 0x55, 0x21, 0x2a, 0x15, 0x45, 0x4a,
0x85, 0x55, 0x52, 0xa1, 0x55, 0x54, 0x85, 0x55,
0x55, 0x15, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// arrow left
unsigned char cdd[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54,
0x55, 0x55, 0x52, 0x15, 0x55, 0x4a, 0x00, 0x01,
0x2a, 0xaa, 0xa8, 0x2a, 0xaa, 0xa8, 0x4a, 0x00,
0x01, 0x52, 0x15, 0x55, 0x54, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// arrow left-down
unsigned char cde[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x15, 0x55,
0x54, 0x85, 0x55, 0x52, 0xa1, 0x45, 0x4a, 0x85,
0x21, 0x2a, 0x15, 0x28, 0xa8, 0x55, 0x2a, 0xa1,
0x55, 0x2a, 0x85, 0x55, 0x2a, 0xa1, 0x55, 0x2a,
0xa8, 0x55, 0x40, 0x01, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// arrow down
unsigned char cdf[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x41, 0x55, 0x55, 0x28, 0x55, 0x55,
0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55,
0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x54, 0x28,
0x15, 0x52, 0xaa, 0x85, 0x54, 0xaa, 0x15, 0x55,
0x28, 0x55, 0x55, 0x41, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// arrow right-down
unsigned char ce0[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x54, 0x55, 0x55, 0x52,
0x15, 0x55, 0x4a, 0x85, 0x55, 0x52, 0xa1, 0x51,
0x54, 0xa8, 0x48, 0x55, 0x2a, 0x28, 0x55, 0x4a,
0xa8, 0x55, 0x52, 0xa8, 0x55, 0x4a, 0xa8, 0x55,
0x2a, 0xa8, 0x55, 0x40, 0x01, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// horizon up
unsigned char ce1[54] ={0x55, 0x55, 0x55, 0x00, 0x00, 0x00, 0xaa, 0xaa,
0xaa, 0xaa, 0xaa, 0xaa, 0x00, 0x00, 0x00, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// horizon middle
unsigned char ce2[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x00, 0x00, 0x00,
0xaa, 0xaa, 0xaa, 0xaa, 0xaa, 0xaa, 0x00, 0x00,
0x00, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
 
// horizon down
unsigned char ce3[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x00,
0x00, 0x00, 0xaa, 0xaa, 0xaa, 0xaa, 0xaa, 0xaa,
0x00, 0x00, 0x00, 0x55, 0x55, 0x55};
 
// horizon center
unsigned char ce4[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x00,
0x14, 0x00, 0xaa, 0x14, 0xaa, 0xaa, 0x82, 0xaa,
0x00, 0xaa, 0x00, 0x54, 0x00, 0x15};
 
// horizon roll
unsigned char ce5[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
0x55, 0x00, 0x55, 0x00, 0x2a, 0x14, 0xa8, 0x4a,
0x82, 0xa1, 0x52, 0xaa, 0x85, 0x54, 0xaa, 0x15,
0x55, 0x28, 0x55, 0x55, 0x41, 0x55};
// gps PH
unsigned char ce6[54] ={0x55, 0x05, 0x11, 0x54, 0xa0, 0x88, 0x54, 0x88,
0x88, 0x54, 0xa0, 0xa8, 0x54, 0x84, 0x88, 0x44,
0x84, 0x88, 0x21, 0x15, 0x11, 0xa8, 0x55, 0x55,
0xa1, 0x55, 0x55, 0x98, 0x15, 0x55, 0x2a, 0x85,
0x55, 0x4a, 0xa1, 0x55, 0x4a, 0xa8, 0x55, 0x52,
0xaa, 0x15, 0x54, 0xaa, 0x15, 0x55, 0x28, 0x55,
0x55, 0x41, 0x55, 0x55, 0x55, 0x55};
// gps CH
unsigned char ce7[54] ={0x55, 0x55, 0x41, 0x55, 0x55, 0x28, 0x55, 0x54,
0x81, 0x55, 0x54, 0x85, 0x55, 0x54, 0x81, 0x45,
0x55, 0x28, 0x21, 0x55, 0x01, 0xa8, 0x54, 0x88,
0xa1, 0x54, 0x88, 0x98, 0x14, 0xa8, 0x2a, 0x84,
0x88, 0x4a, 0xa0, 0x88, 0x4a, 0xa8, 0x11, 0x52,
0xaa, 0x15, 0x54, 0xaa, 0x15, 0x55, 0x28, 0x55,
0x55, 0x41, 0x55, 0x55, 0x55, 0x55};
 
 
// flashing more than 8 chars per time is not profen to be safe
// so take care
/*learn_char(200, cc8);
learn_char(201, cc9);
learn_char(202, cca);
learn_char(203, ccb);
learn_char(204, ccc);
learn_char(205, ccd);
learn_char(206, cce);
learn_char(207, ccf);*/
/*learn_char(208, cd0);
learn_char(209, cd1);
learn_char(210, cd2);
learn_char(211, cd3);
learn_char(212, cd4);
learn_char(213, cd5);
learn_char(214, cd6);
learn_char(215, cd7);*/
/*learn_char(216, cd8);
learn_char(217, cd9);
learn_char(218, cda);
learn_char(219, cdb);
learn_char(220, cdc);
learn_char(221, cdd);
learn_char(222, cde);
learn_char(223, cdf);*/
/*learn_char(224, ce0);
learn_char(225, ce1);
learn_char(226, ce2);
learn_char(227, ce3);
learn_char(228, ce4);
learn_char(229, ce5);
learn_char(230, ce6);
learn_char(231, ce7);*/
#endif
/* ##########################################################################
* continue normal main
* ##########################################################################*/
#if NTSC
// NTSC + enable display immediately (VM0)
spi_send_byte(0x00, 0b00001000);
#else
// PAL + enable display immediately (VM0)
spi_send_byte(0x00, 0b01001000);
#endif
 
// clear all display-mem (DMM)
spi_send_byte(0x04, 0b00000100);
 
// clearing takes 12uS according to maxim so lets wait longer
_delay_us(120);
 
// 8bit mode
spi_send_byte(0x04, 0b01000000);
 
// write blank chars to whole screen
clear();
 
#if !(ALLCHARSDEBUG|WRITECHARS)
// init usart
usart1_init();
 
// set up timer
TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64
OCR0 = 6; // preload
TIMSK |= (1 << TOIE0); // enable overflow timer0
 
// unmask interrupts
sei();
#endif
 
//write_ascii_string(2, 7, " CaScAdE ");
//write_ascii_string(2, 8, "is TESTING his open source");
//write_ascii_string(2, 9, " EPi OSD Firmware");
//write_ascii_string(2, 10, "Scheiss Kompass");
 
 
 
 
// custom char preview
/*write_char_xy( 2, 7, 200);
write_char_xy( 3, 7, 201);
write_char_xy( 4, 7, 202);
write_char_xy( 5, 7, 203);
write_char_xy( 6, 7, 204);
write_char_xy( 7, 7, 205);
write_char_xy( 8, 7, 206);
write_char_xy( 9, 7, 207);
write_char_xy(10, 7, 208);
write_char_xy(11, 7, 209);
write_char_xy(12, 7, 210);
write_char_xy(13, 7, 211);
write_char_xy(14, 7, 212);
write_char_xy(15, 7, 213);
write_char_xy(16, 7, 214);
write_char_xy(17, 7, 215);*/
 
// we are ready
LED3_ON
 
 
 
#if ALLCHARSDEBUG | WRITECHARS
clear();
write_all_chars();
#else
// clear serial screen
//usart1_puts("\x1B[2J\x1B[H");
//usart1_puts("hello world!\r\n");
 
// request data ever 100ms from FC
//unsigned char ms = 10;
//sendMKData('d', 0, &ms, 1);
// request OSD Data from NC every 100ms
unsigned char ms = 10;
sendMKData('o', 1, &ms, 1);
// and disable debug...
//ms = 0;
//sendMKData('d', 0, &ms, 1);
 
uint8_t top_line = 1;
#if NTSC
uint8_t bottom_line = 12;
#else
uint8_t bottom_line = 14;
#endif
// stats for after flight
int16_t max_Altimeter = 0;
uint16_t max_GroundSpeed = 0;
int16_t max_Distance = 0;
 
// flags from last round to check for changes
uint8_t old_MKFlags = 0;
// write fix characters, only update the data dependend
write_char_xy(5, top_line, 203); // km/h
write_char_xy(10, top_line, 202); // RC-transmitter
write_char_xy(16, top_line, 208); // degree symbol
write_char_xy(27, top_line, 204); // small meters m
write_ascii_string(6, bottom_line, "V"); // voltage
write_char_xy(14, bottom_line, 209); // on clock
write_char_xy(22, bottom_line, 210); // fly clock
write_char_xy(26, bottom_line, 200); // sat1
write_char_xy(27, bottom_line, 201); // sat2
 
char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
char arrowdir[8] = { 218, 217, 224, 223, 222, 221, 220, 219};
 
while (1) {
if (rxd_buffer_locked) {
if (rxd_buffer[2] == 'D') { // FC Data
/*Decode64();
debugData = *((DebugOut_t*) pRxData);
write_number_s(12, 2, RxDataLen);
write_number_s(20, 2, setsReceived++);
write_number_s(12, 3, debugData.Analog[0]);
write_number_s(12, 4, debugData.Analog[2]);
write_number_s(12, 5, debugData.Analog[1]);
write_number_s(12, 6, debugData.Analog[3]);
write_number_s(12, 7, debugData.Analog[9]);
write_number_s(12, 8, debugData.Analog[10]);
write_number_s(12, 4, debugData.Analog[12]);
write_number_s(12, 5, debugData.Analog[13]);
write_number_s(12, 6, debugData.Analog[14]);
write_number_s(12, 7, debugData.Analog[15]);*/
} else if (rxd_buffer[2] == 'O') { // NC OSD Data
Decode64();
naviData = *((NaviData_t*) pRxData);
 
// first line
write_3digit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed*36)/1000));
 
write_3digit_number_u(7, top_line, naviData.RC_Quality);
if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
for (uint8_t x = 0; x < 4; x++)
write_char_att_xy(7 + x, top_line, BLINK);
} else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
for (uint8_t x = 0; x < 4; x++)
write_char_att_xy(7 + x, top_line, 0);
}
last_RC_Quality = naviData.RC_Quality;
 
write_3digit_number_u(13, top_line, naviData.CompassHeading);
 
write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]);
 
if (naviData.Variometer == 0) {
write_char_xy(20, top_line, 206); // plain line
} else if (naviData.Variometer > 0) {
write_char_xy(20, top_line, 207); // arrow up
} else {
write_char_xy(20, top_line, 205); // arrow down
}
 
// TODO: is this really dm?
write_number_s(22, top_line, naviData.Altimeter/10);
 
// seccond line
draw_compass(11, top_line + 1, naviData.CompassHeading);
 
// TODO: verify correctness
uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
write_char_xy(27, top_line + 1, arrowdir[heading_conv(heading_home)]);
 
write_number_s(22, top_line + 1, naviData.HomePositionDeviation.Distance);
 
// center
if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running
if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle
for (uint8_t x = 0; x < 30; x++) {
write_char_xy(x, 5, 0);
write_char_xy(x, 7, 0);
write_char_xy(x, 9, 0);
}
}
#if ARTHORIZON
draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
#endif
} else {
// stats
write_ascii_string(2, 5, "max Altitude:");
write_number_s(17, 5, max_Altimeter/10);
write_char_xy(22, 5, 204); // small meters m
write_ascii_string(2, 7, "max Speed :");
write_3digit_number_u(19, 7, (uint16_t)(((uint32_t)max_GroundSpeed*36)/1000));
write_char_xy(22, 7, 203); // km/h
write_ascii_string(2, 9, "max Distance:");
write_number_s(17, 9, max_Distance/100);
write_char_xy(22, 9, 204); // small meters m
}
 
// bottom line
write_number_u_10th(0, bottom_line, naviData.UBat);
if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) {
for (uint8_t x = 0; x < 7; x++)
write_char_att_xy(x, bottom_line, BLINK);
} else {
for (uint8_t x = 0; x < 7; x++)
write_char_att_xy(x, bottom_line, 0);
}
 
write_time(8, bottom_line, uptime);
write_time(16, bottom_line, naviData.FlyingTime);
 
write_3digit_number_u(23, bottom_line, naviData.SatsInUse);
 
if (naviData.NCFlags & NC_FLAG_CH) {
write_char_xy(27, bottom_line, 231); // gps ch
} else if (naviData.NCFlags & NC_FLAG_PH) {
write_char_xy(27, bottom_line, 230); // gps ph
} else { // (naviData.NCFlags & NC_FLAG_FREE)
write_char_xy(27, bottom_line, 201); // sat2 (free)
}
 
//write_number_s(8, 5, RxDataLen);
//write_number_s(16, 5, setsReceived++);
 
// remember statistics
if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter;
if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
if (naviData.HomePositionDeviation.Distance > max_Distance) {
max_Distance = naviData.HomePositionDeviation.Distance;
}
old_MKFlags = naviData.MKFlags;
}
rxd_buffer_locked = 0;
}
// handle keypress
if (S1_PRESSED) {
uptime = 0;
_delay_ms(100);
}
if (S2_PRESSED) {
//sendMKData('d', 1, (unsigned char*) 0, 1);
// request OSD Data from NC every 100ms
unsigned char ms = 10;
sendMKData('o', 1, &ms, 1);
_delay_ms(500);
}
}
#endif
return 0;
}